JP6758192B2 - Foot operation controller, equipment and furniture including it, and its operation method - Google Patents

Description

The present invention relates to a foot-operated controller, a device having a foot operation controller, a furniture having a foot operation controller, and a method of operating the foot operation controller.

The fields of use of the present invention are, for example, to play a video game or to work on a computer, especially to move a pointer or viewpoint or object on a screen or in a virtual environment, or to remotely control a machine in the real world. In addition, it is to control navigation and movement on the screen of a machine or computer.

In the art, many controllers are known, for example, from Patent Document 1, Patent Document 2, Patent Document 3, and Patent Document 4.

International Publication No. 00/57975 Pamphlet International Publication No. 2013/086602 Pamphlet International Publication No. 2012/02674 Pamphlet U.S. Pat. No. 5,864,333

The main problem of the foot operation controller is that the person gets tired. In particular, many of the known foot-operated controllers are offered for the user to stand on and use, which is especially tiring for users who have to balance on the controller.

An object of the present invention is to solve the above problems and to improve the comfort of using the controller so that the controller can be operated accurately and easily with the foot.

For this purpose, a first subject according to an embodiment of the present invention is a foot operation controller. The foot operation controller
An upper platform that has at least an upper surface to receive the foot,
A lower cup portion having a lower surface, the lower surface having a curved convex shape for rotating on the lower surface, and the upper platform portion having the same operation as the lower cup portion. The lower cup portion, which is attached to the lower cup portion to perform,
Includes a rotation sensor for measuring the rotation of the upper platform portion and / or the lower cup portion about a first yaw axis, a second roll axis and a third pitch axis that are not coplanar. ..

According to one embodiment of the present invention, the foot operation controller is at least one force sensor for measuring the force applied to the upper platform portion, and the rotation sensor and the at least one force sensor are It further comprises at least one strength sensor housed between the upper platform portion and the lower cup portion.

According to one embodiment of the invention, the foot control controller further includes means for generating control signals from rotation and force measured by the rotation sensor and the at least one force sensor.

According to one embodiment of the present invention, the foot operation controller is measured by the rotation sensor when the at least one force sensor measures a force indicating that the foot is present on the upper platform portion. The initial rotation position and / or at least one of the upper platform portion and / or the lower cup portion with respect to at least one of the first yaw axis, the second roll axis, and the third pitch axis. It further includes means for registering the initial force measured by one force sensor.

According to one embodiment of the invention, the initial rotational position and / or said initial force is the rest position and / or rest force of the foot above the upper platform portion when the user is sitting. with corresponding to the upper platform portion corresponds to being tilted backward by at least a non-null angle about said third pitch axis with respect to the horizontal position of the upper platform portion.

According to an embodiment of the present invention, the control signal is made fresh referenced to the initial rotational position and / or the initial force.

Thanks to the present invention, the controller is adapted to be operated by the user sitting in a seat with his or her foot resting on the upper platform portion of the controller to operate the controller. The controller may be located in front of the chair or seat or furniture on which the user is sitting. The initial rotation position and / or the initial force and the angle tilted backward correspond to the rest position of the foot when sitting and avoid fatigue. The user sitting when using the controller is more comfortable and much less fatigued for the user. And all movements provided by the controller can have a zero position, for example, a rearwardly angled foot rest position and / or a cursor position located in the center of the screen corresponding to the rest force. According to the present invention, the horizontal position of the upper platform portion does not have to correspond to the rest position of the foot. The zero position of the control signal, which can correspond to the horizontal position of the upper platform part, is tiring for the user. This is because the user must constantly apply muscular and joint forces to his foot to place the control signal in the zero position. In contrast, according to the present invention, the zero position of the control signal is the position of the upper platform, which is tilted backward with respect to the horizontal position of the upper platform, and the muscles and joints that the user puts on his or her foot. Corresponds to the rest position of the foot with less force. Therefore, the present invention makes the user much less tired and more comfortable, especially when repeating quick movements. The user experiences better control because the control signal takes the rest position of the user's foot above the controller as a reference. The initial rotation position and / or initial force corresponding to the rest position and / or rest force is initialized (which can be done quickly (usually takes less than 2 seconds)) with each new start of use of the controller. Can be registered during the steps. Then, during the initialization step, a control signal is provided for the calibration at the initial rotation position provided by the user's foot.

According to one embodiment of the present invention, the angle of the upper platform portion to the rear under the horizontal position about the third pitch axis is truly larger than 0 ° and 20 ° or less.

According to one embodiment of the invention, the upper surface has an engraved left engraved footprint and / or an engraved right engraved footprint.

The engraved left footprint and / or the engraved right footprint is optional.

According to one embodiment of the invention, the at least one force sensor is located below the engraved left footprint and / or the engraved right footprint.

According to one embodiment of the invention, the at least one force sensor is located below the first point of the upper platform portion and above the upper part along the second roll axis away from the first point. Includes a first force sensor and a second force sensor located below and below the second point on the platform section, respectively.

According to one embodiment of the invention, the at least one force sensor is located below the first point and a further point on the upper platform portion away from the second point. Includes sensor.

According to one embodiment of the invention, the at least one force sensor is located below the third point of the upper platform portion and above the upper part along the third pitch axis away from the third point. Includes a third force sensor and a fourth force sensor located below and below the fourth point on the platform section, respectively.

According to one embodiment of the invention, the at least one force sensor is located below the upper platform portion and is distributed around a vertical axis under each of the plurality of points of the upper platform portion. The distance between the points is smaller than the size of an adult's foot.

According to one embodiment of the present invention, the distance between the plurality of points is less than 30 cm.

According to one embodiment of the present invention, the lower surface of the lower cup portion has a symmetrical shape about the vertical axis.

According to one embodiment of the present invention, the lower surface of the lower cup portion has an anti-slip outer surface in order to prevent the lower cup portion from slipping.

According to one embodiment of the present invention, the foot manipulation controller can be used to manipulate a physical object in the real world or a virtual object in a virtual environment, the initial rotational position and / or the initial force and / or. The rest position and / or the rest force and / or the reference and / or the non-null angle is related to the immobile position of the physical or virtual object, and the physical object or the physical object from the stationary position. The movement of the virtual object is driven by the control signal, or the velocity of the physical object or virtual object from the stationary position is driven by the control signal.

According to one embodiment of the invention, the foot control controller has the second roll axis and / or the third pitch axis registered by the rotation sensor corresponding to the backward non-null angle. The means for determining from the measured initial rotation position is included.

Another subject of the present invention is a device including the foot operation controller described above. The device further includes a lower base separated from the lower cup portion, which supports the lower cup portion and also has the first yaw shaft and the second roll shaft. And the lower cup portion is provided so as to be able to rotate around the third pitch axis. This subject is optional.

According to one embodiment of the present invention, the lower base portion has an upper recess for receiving the lower cup portion.

According to one embodiment of the present invention, the lower base portion has an upper surface for receiving the lower cup portion and allowing the lower cup portion to slide on the lower base portion and /. Alternatively, the lower surface of the lower cup portion has a surface that allows the lower cup portion to slide on the lower base portion.

According to one embodiment of the present invention, the lower base portion has an anti-slip outer bottom surface in order to prevent the lower base portion from slipping.

Another subject of the present invention is furniture. The furniture includes a seat, a seat attached to a lower base portion located below the seat, and the foot operation controller, wherein the lower base portion is from a lower cup portion of the foot operation controller. It is separated so as to support the lower cup portion and to allow the lower cup portion to rotate around the first yaw shaft, the second roll shaft, and the third pitch shaft. Has been done.

Another subject of the present invention is a method of operating the foot operation controller or the device. In this method,
In the first step, the user places his or her two feet on the upper platform portion of the foot operation controller.
In the second step, the at least one force sensor measures the force applied to the upper platform portion and
In the third initialization step, the first step corresponds to the force measured by the at least one force sensor in the second step indicating that the foot is on the upper platform portion. The initial rotation position of the upper platform portion and / or the lower cup portion with respect to at least one of the yaw axis, the second roll axis and the third pitch axis is measured by the rotation sensor and / or the initial force. Is measured by the at least one force sensor
The initial rotation position and / or the initial force corresponds to the rest position and / or rest force of the foot on the upper platform portion when the user is sitting, and the upper platform portion is the upper platform portion. Corresponds to the fact that the platform is tilted backward by a non-null angle about the third pitch axis with respect to the horizontal position of.
In the fourth step after the third initialization step, the at least one force sensor measures the force applied to the upper platform portion, and the rotation sensor is the first yaw axis, the second. the upper platform section and / or to measure the rotation of the lower cup portion, said control in response to a force and rotation measured between said fourth step around the roll axis of and the third pitch axis A signal is generated and the control signal has the initial rotational position and / or the initial force as a reference .

The present invention can be better understood by reading the following description, which is merely exemplified as a non-limiting example, with reference to the accompanying drawings.

FIG. 1 is a schematic perspective view of a foot operation controller according to an embodiment of the present invention. FIG. 2 is a schematic top view of the foot operation controller according to the embodiment of the present invention. FIG. 3 is a schematic right side view of the foot operation controller according to the embodiment of the present invention. FIG. 4 is a schematic front view of the foot operation controller according to the embodiment of the present invention. FIG. 5 is a schematic view of the foot operation controller according to the embodiment of the present invention as viewed from the right side of the foot operation controller in the balanced position when the foot is not placed on the foot operation controller. FIG. 6 is a schematic view of the foot operation controller on which the foot at the rest position corresponding to the reference is placed, as viewed from the right. FIG. 7 is a schematic view of the foot operation controller at the second position for operating the control signal, which is located at a position different from the reference of FIG. 6, as viewed from the right. FIG. 8 is a schematic exploded perspective view of the foot operation controller according to the embodiment of the present invention. FIG. 9 is a schematic perspective view of the inside of the foot operation controller according to the embodiment of the present invention. FIG. 10 is a schematic side view of the foot operation controller according to another embodiment of the present invention. FIG. 11 is a schematic perspective view of a foot operation controller according to another embodiment of the present invention. FIG. 12A shows the movement performed by the foot, and FIG. 12B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 12A. It is a schematic diagram of the movement. FIG. 13A shows the movement performed by the foot, and FIG. 13B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 13A. It is a schematic diagram of the movement. FIG. 14A shows the movement performed by the foot, and FIG. 14B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 14A. It is a schematic diagram of the movement. FIG. 15A shows the movement performed by the foot, and FIG. 15B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 15A. It is a schematic diagram of the movement. FIG. 16A shows the movement performed by the foot, and FIG. 16B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 16A. It is a schematic diagram of the movement. FIG. 17A shows the movement performed by the foot, and FIG. 17B shows a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 17A. It is a schematic diagram of the movement. FIG. 18A shows the movement performed by the foot, and FIG. 18B is a conical camera operated on the screen or in a virtual environment by the foot operation controller according to the embodiment of the present invention according to the movement shown in FIG. 18A. It is a schematic diagram of the movement. FIG. 19 is a flowchart of a method for operating the controller according to the embodiment of the present invention.

In FIGS. 1 to 11, the foot operation controller 100 includes an upper platform portion 1 attached to the lower cup portion 2. Since the upper platform portion 1 is firmly attached to the lower cup portion 2, the upper platform portion 1 performs the same operation as the lower cup portion 2. The upper platform portion 1 and the lower cup portion 2 both define the case 200. The case 200 is hermetically sealed and includes other means of the controller 100, such as means 6, 7a, 7b, 7c, which will be described later.

The lower cup portion 2 has a lower surface 20. The bottom surface 20 has a curved shape to rotate, for example, on the ground as can be seen from FIGS. 1, 2, 3 and 4, or on the lower base 30 as can be seen from FIGS. 10 and 11. In order to prevent the lower cup portion 2 from slipping on the ground, the outer surface of the lower surface 20 may be covered with a non-slip material or may have an anti-slip outer surface. In other embodiments (not shown), the upper platform portion 1 may be rotatable about a first yaw axis Z with respect to the lower cup portion 2.

The upper platform portion 1 has at least one upper surface 11 for receiving the user's foot.

Since the convexity of the bottom surface 20 is turned to the top, i.e. to the top platform portion 1, the bottom surface 20 can rotate or tilt on the ground or on the bottom base portion 30.

The top surface 11 has a particular softness or flexibility, for example, in any footprints 111 and / or 112 described below, or throughout the top surface 11 with or without, for example, footprints 111 and / or 112. Can have. The upper platform portion may be semi-rigid. The softness or flexibility of the top surface 11 is provided to transmit the force applied by the foot on the top surface 11 to the force sensor 6. When several force sensors 6 are provided, the softness or flexibility of the top surface 11 is provided to individually transmit the force to the force sensors 6. The foot operation controller uses a rotation sensor 7b for measuring the rotation of the upper platform portion 1 and / or the lower cup portion 2 about the first yaw axis Z, the second roll axis X, and the third pitch axis Y. Including. The first yaw axis Z, the second roll axis X, and the third pitch axis Y are not in three dimensions, that is, in the same plane. The first yaw axis Z, the second roll axis X, and the third pitch axis Y are, for example, secant with each other. For example, the first yaw axis Z, the second roll axis X, and the third pitch axis Y are at right angles to each other. The three axes X, Y and Z are connected to the upper platform portion 1. For example, the upper surface 11 of the upper platform portion 1 is flat or substantially flat.

For example, the second roll axis X is an axis located in the plane of the upper surface 11 or in the tangential direction with respect to the upper surface 11, and is a position where the controller 100 is located (FIGS. 1, FIG. 2, FIG. 3, FIG. A horizontal axis that extends from back to front in 4 and 5 and can be an empty position and / or a balanced position in FIGS. 10 and 11.

For example, the third pitch axis Y is an axis located in the plane of the upper surface 11 or tangential to the upper surface 11, and is a position where the controller 100 is located (FIGS. 1, FIG. 2, FIG. 3, FIG. An axis extending from right to left and horizontal at (4) and (which can be an empty position and / or a balanced position) of FIGS. 5 and 11.

For example, the first yaw axis Z is perpendicular to the second roll axis X and the third pitch axis Y and extends from bottom to top, with FIGS. 1, 2, 3, 4, and 5. And it can be vertical in the empty and / or balanced positions of the controllers 100 of FIGS. 10 and 11.

The rotation sensor 7b includes at least one first yaw rotation sensor 7b1 for measuring the rotation of the upper platform portion 1 and / or the lower cup portion 2 about the first yaw axis Z, and a second roll axis. At least one second roll rotation sensor 7b2 for measuring the rotation of the upper platform portion 1 and / or the lower cup portion 2 around X, the upper platform portion 1 centered on the third pitch axis Y, and / Or includes at least one third pitch rotation sensor 7b3 for measuring the rotation of the lower cup portion 2.

The lower cup portion 2 and / or the upper platform portion 1 performs yaw motion and / or roll motion and / or pitch motion on the ground or on the lower base portion 30, that is, axis Z, axis X, and axis Z, respectively. Can be rotated or tilted around. The yaw and / or roll and / or pitch movements of the lower cup portion 2 and / or the upper platform portion 1 are measured by the rotation sensor 7b. The roll motion can be calculated from one force sensor. The one force sensor may include, for example, one or more accelerometers for measuring acceleration in three dimensions, or may include a gyrometer for more accurate measurement. The pitch motion can be calculated from one force sensor. The one force sensor may include, for example, one or more accelerometers for measuring acceleration in three dimensions, or may include a gyrometer for more accurate measurement.

In one embodiment, the rotation sensor 7b may measure the rotation angle and / or the rotation speed and / or the rotation acceleration around the axes X, Y and Z. In one embodiment, the rotation sensor
Three gyrometer measuring the rotational speed around the axes X, Y and Z,
Three accelerometers that measure acceleration with respect to axes X, Y and Z to obtain the X, Y and Z values of the gravity vector in controller 100 and therefore calculate the pitch and roll of controller 100. When,
Three magnetometers that measure the magnetic fields associated with the axes X, Y, and Z to calculate heading,
It is embodied by the Attitude and Heading Reference System (AHRS) including.

By using the extended Kalman filter that provides the above-mentioned nine-value data fusion, the bearing, pitch and roll can be measured with high accuracy and low waiting time.

Due to the curved convex shape of the lower surface 20, the lower cup portion 2 and the upper platform portion 1 have a first yaw axis Z (yaw operation), a second roll axis X (roll operation), and a third pitch axis Y ( It can be tilted and / or rotated around each of the pitch axes) or around two or three combinations of them.

The controller 100 also includes one or more force sensors 6 (or force gauge sensors 6) that serve to measure the force applied to the upper platform unit 1.

The controller 100 also includes means 7a or a generator 7a for generating the control signal CS from the rotation measured by the rotation sensor 7b and from the force measured by the force sensor 6. The generator 7a or the generator 7a is connected to the force sensor 6 and the rotation sensor 7b. The rotation sensor 7b, the force sensor 6 and / or the control signal CS generating means 7a are housed between the upper platform portion 1 and the lower cup portion 2, that is, in the case 200. The control signal CS can be used as an instruction for the device.

12 to 18 show examples of instructions.

As an example, in one embodiment, the controller 100 can move the camera CAM represented by a cone or triangle in FIGS. 12B, 13B, 14B, 15B, 16B, 17B and 18B. Of course, other commands are possible.

The curved convex shape of the lower surface 20 is continuous and three-dimensional. Therefore, the tilt or rotation of the lower cup portion 2 on the ground or on the lower base portion 30 is also continuous, and is progressive when the platform portion 1 is tilted or rotated continuously with time. ) Enables the generation of the control signal CS. Progressive instructions may be generated from the control signal CS and interface with equipment for low speed or high speed operation, high accuracy, command inversion, virtual or discrete operation control based on amplitude and direction. , Enable without usage restrictions.

In one embodiment, the pressure and movement of the foot resting on the controller is converted to the progressive value of the control signal CS used to control the connected device.

The curved convex shape of the lower surface 20 is, for example, a shape symmetrical or rotated about a first yaw axis Z or a vertical axis perpendicular to the upper platform portion 1. Then, the upper platform portion 1 is inclined in the same manner in all directions.

The controller 100 has an upper platform portion 1 and / or a lower cup portion 2 with respect to the first yaw axis Z and / or with respect to the second roll axis X and / or with respect to the third pitch axis Y measured by the rotation sensor 7b. The force sensor 6 measures the force indicating that the foot is present on the initial rotation position P1 and / or the upper platform portion 1, that is, that the user puts his / her foot on the upper surface 11 as shown in FIG. Includes means 7c for registering or storing the initial force measured by the force sensor 6 when it is detected. The initial rotation position P1 and / or the initial force and / or the non-null angle A1 is stored in the memory 7c1. The memory 7c1 may be, for example, a fixed memory, a non-volatile memory, or a volatile memory of the computer CAL. The force indicating that the foot is on the upper platform portion 1 is non-null. The initial rotation position P1 and / or the initial force of the upper platform portion 1 is such that the upper platform portion 1 sets a third pitch axis Y with respect to the horizontal position P0 of the upper platform portion 1 or generally with respect to a predetermined horizontal plane HP. Corresponds to a rearward inclination of at least a non-null angle A1 to the center. The rearward non-null angle A1 measured by the rotation sensor 7b is registered by the means 7c, for example, in the memory 7c1. The initial rotation position P1 of the upper platform portion corresponds to the rest position of the foot on the upper platform portion 1 according to FIG. 6 when the user is sitting and / or the initial force is when the user is sitting. Corresponds to the resting force of the foot on the upper platform portion 1 according to FIG. The horizontal position P0 of the upper platform portion 1 is an empty position shown in FIG. In that position, for example, as shown in FIG. 5, there are no feet on the upper platform portion 1, the foot operating controller 100 is in a balanced position on the ground or on the lower base 30, and the axes X and Y are, for example, It is horizontal (defining the horizontal plane HP) and the axis Z is vertical. The initial rotation position P1 and / or the initial force of the upper platform portion 1 and / or the lower cup portion 2 is a calibration position at which the calibration of the control signal is started at the initial rotation position P1.

The foot operation controller 100 is a foot operation controller 100 used while sitting or a foot operation controller 100 while sitting.

Initial force measured by the initial rotational position P1 and / or the force sensor 6 measured by the rotation sensor 7b as a reference C20 and the control signal CS is generated by the hand-stage 7a or generator 7a.

For example, as shown in FIG. 19, the operation method of the foot operation controller 100 or the device 101 is as follows.

In the first step, the user places two feet on the upper platform portion 1 of the foot operation controller 100, that is, on the upper surface 11. The controller 100 is at the position shown in FIG.

Next, in the second step S2, at least one force sensor 6 measures the force S0 applied to the upper platform portion 1 by the two feet.

Next, in the third initialization step S3, the force S0 measured by at least one force sensor 6 in the second step S2 corresponds to indicating that the foot exists on the upper platform portion 1. Therefore, the initial rotation position P1 of the upper platform portion 1 and / or the lower cup portion 2 with respect to at least one of the first yaw axis Z, the second roll axis X, and the third pitch axis Y is determined by the rotation sensor 7b. The initial force is measured by the measured and / or force sensor 6. For example, the third initialization step is performed when the force S0 measured by at least one force sensor 6 in the second step S2 is larger than the lower limit threshold Smin of a predetermined force (for example, non-null). Then, the third initialization step S3 provides calibration of the control signal CS at the initial rotation position P1 and / or the initial force. If several force sensors are provided for each foot, for example, the force measured by the force sensor 6 for the right foot (eg 61 _r and / or 62 _r and / or 63 _r as shown below). And / or 64 _r ) are summed, and the forces measured by the force sensor 6 for the left foot (eg, 61 _l and / or 62 _l and / or 63 _l and / or 64 _l as shown below) are summed. And in order to trigger the third initialization step, each sum must be greater than the lower threshold Smin of the predetermined force.

FIG. 6 shows the foot operation controller 100 in the first step S1, the second step S2, and the third initialization step S3.

Next, in the fourth step S4 after the third initialization step S3, the user moves his / her foot in order to incline the lower cup portion 2 with respect to the initial rotation position P1 as shown in FIG. 7, for example. obtain. In the fourth step S4, at least one force sensor 6 measures the force St applied to the upper platform portion 1, or the force sensor 6 measures the force distribution of the upper platform portion 1, and the rotation sensor 7b is the second. The rotation of the upper platform portion 1 and / or the lower cup portion 2 about the yaw axis Z and / or the second roll axis X and / or the third pitch axis Y of 1 is measured. In order to obtain the initial rotation position P1 and / or the initial force as the reference CS0, the control signal CS is generated by the means 7a or the generator 7a according to the force St and the rotation measured during the fourth step S4. The means 7a or generator 7a is calibrated at the initial rotation position P1 and / or the initial force, and the initial rotation position P1 and / or the initial force is taken as a reference or zero position for the control signal.

Steps S1, S2 and S3 may be automatically performed when the controller 100 is turned on. The user moves his or her foot for at least a minimum amount of time without substantially moving the upper platform portion 1 beyond a predetermined range centered on axes X, Y and Z (eg, small, involuntary movements). Steps S1, S2 and S3 may be initiated when placed on the upper platform section 1.

The initial rotation position P1 can be tilted at a non-null angle about the second roll axis X with respect to the horizontal plane HP and / or at a non-null angle about the first yaw axis Z, i.e. Can be tilted.

For example, the foot control controller 100 may enable control of equipment such as, for example, computers, game machines, industrial machines, drones, video cameras, screens or any other electrical equipment or the like. The controller 100 can be used to control the movement of a pointer or viewpoint or object on the screen Sc of a computer, for example, which the user is looking at. The controller 100 can be used to control on-screen navigation, such as two-dimensional or three-dimensional navigation. The controller 100 can be used in virtual reality to move the user in a controlled manner, for example using a head-mounted display (or audio and / or video helmet).

The controller 100 can be used to keep it stationary on the screen.

The controller 100 can be used to remotely control the device in the real world. The controller 100 can be used to remotely drive and / or move a physical reality object, which may be, for example, a drone, such as a submarine drone or surgical instrument or video camera or photo camera or the like. The controller 100 can be used to remotely drive and / or move a physical vehicle or any physical device.

For example, in one embodiment, the foot rest position and / or at the initial rotation position P1, that is, on the upper platform portion 1 tilted rearward by at least an angle A1 about the third pitch axis Y with respect to the horizontal plane HP. In the rest force, the control signal CS is preset so that the pointer Pt is placed at the center C of the screen Sc at the end of the third initialization step S3.

For example, in one embodiment, the amplitude of the control signal CS is taken with respect to the value of the control signal CS at the initial rotation position P1 and / or the initial force and / or rest force and / or the reference CS0 and / or the non-null angle A1. obtain.

The amplitude of the control signal CS or control signal CS with respect to the value of the control signal CS at the initial rotation position P1 and / or the initial force and / or the rest force and / or the reference CS0 and / or the non-null angle A1 is the physical from the stationary position. It can be used to control the movement of an object or virtual object or the velocity of a physical or virtual object from a stationary position. The amplitude of the control signal CS or the control signal CS can be a velocity command of a physical or virtual object.

In one embodiment, the initial rotation position P1 and / or the initial force and / or the rest position and / or the rest force and / or the reference CS0 and / or the non-null angle A1 is a physical object or virtual that can be the only stationary position. It is related to the stationary position of the object.

For example, movement or velocity can be an increasing function of the amplitude of the control signal CS. Then, in one embodiment, the larger the inclination, the faster the movement. The initial rotation position P1 and / or the initial force and / or the rest force and / or the reference CS0 and / or the non-null angle A1 corresponds to, for example, a velocity equal to 0.

In one embodiment, all of the rotational positions different from the initial rotational position P1 and / or all of the measured forces different from the initial force and / or all of the foot positions on the controller 100 different from the rest position and / or All of the reference signals different from the reference CS0 and / or all of the angles around the third pitch axis Y different from the non-null angle A1 are in the movable position of the virtual object or the physical object or the virtual object or the physical. It can correspond to the non-null velocity of an object.

At the rest position and / or the initial rotation position P1 of the foot above the platform portion 1, the foot is slightly tilted backward. This is the balance position of the foot on the platform portion 1 when the user is sitting in the seat. This position P1 is the most comfortable position and the user does not exert any force on his or her feet.

Next, in the fourth step S4, the user moves his / her foot forward, for example, as shown in FIG. This may be represented in the fourth step S4 by moving the pointer Pt to another position on the screen Sc, eg, forward (which may be represented by the pointer Pt being above the center C).

In one embodiment, means 7c is provided to register the reference CS0, i.e. the registered initial rotation position P1 and / or the value CS0 (or zero position CS0) of the control signal CS at the registered initial force.

Next, or when the user's foot tilts the controller 100 around the three axes X, Y, Z, the initial rotation position P1 and / or the initial force, that is, the foot rest position and / on the platform portion 1. Alternatively, the amplitude of the control signal CS is taken with respect to the resting force, that is, with respect to the most comfortable position of the foot, reducing user stress and long-term use fatigue.

In particular, the user does not need to exert more force on his or her feet with muscles and joints to place the control signal CS at the zero position CS0, i.e. at the center C of the screen Sc.

The angle A1 can be, for example, truly greater than 0 ° and less than or equal to 20 °. The angle A1 may be, for example, truly greater than 0 ° and less than or equal to the maximum tilting amplitude of the lower surface 20 of the lower cup portion about the third pitch axis Y. The range of the angle A1 is, for example, 0.01 ° to 20 ° or 0.1 ° to 20 ° or 1 rearward from the upper platform portion 1 at a horizontal position or a horizontal plane HP centered on the third pitch axis Y. It can be ° -18 ° or 1 ° -15 ° or 1 ° -10 ° or 1.4 ° 5.4 ° or 3 ° -4 °.

The maximum tilt amplitude of the lower surface 20 of the lower cup portion centered on the third pitch axis Y and / or the second roll axis X is non-null, eg, with respect to a horizontal plane (eg HP). Can be less than 30 ° or less than 20 ° or less than 18 ° or less than 15 °. A typical value for this maximum tilt amplitude is, for example, 17.9 °.

The upper surface 11 of the upper platform portion 1 may have an engraved left footprint 111 and / or an engraved right footprint 112. The engraved left footprint 111 serves to receive the user's left foot. The engraved right footprint 112 serves to receive the user's right foot. The engraved left footprint 111 and / or the engraved right footprint 112 can have the size of an adult's foot. The engraved left footprint 111 and / or the engraved right footprint 112 is optional.

In one embodiment, the force sensor 6 is located below the engraved left footprint 111 and / or below the engraved right footprint 112.

Of course, in the following embodiments and examples, the footprints 111 and / or 112 may not be present. In the embodiments and examples below, the engraved left footprint 111 and the engraved right footprint 112 are more generally top surfaces without the engraved left footprint 111 and / or the engraved right footprint 112. It can be replaced by 11 or the upper platform unit 1.

In one embodiment, at least two force sensors 6 located below points of the upper platform portion 1 that are distant from each other are provided.

In the embodiment shown in FIG. 8, at least one force sensor 6 is located below the first point 41 of the upper platform portion 1 and away from the first point 41 along the second roll axis X. Includes a first force sensor 61 and a second force sensor 62, respectively, located below the second point 42 of 1.

In the embodiment shown in FIG. 8, at least one force sensor 6 is below a further point (which can be point 43 and / or 44 of the upper platform portion 1) away from the first point 41 and the second point 42. Includes at least one additional force sensor 6 (which can be force sensor 63 and / or 64) located in. For example, the above additional points are not aligned with the first and second points. The additional force sensor 6 described above may be located below an additional point located outside the straight line connecting the first and second points, such as the force sensor 63. The additional force sensor 6 may be located below an additional point located inside the straight line connecting the first and second points, such as the force sensor 64.

In the embodiment shown in FIG. 8, at least one force sensor 6 is located below the third point of the upper platform portion 1 and away from the third point 43 along the third pitch axis Y. Includes a third force sensor 63 and a fourth force sensor 64, respectively located below and below the fourth point 44 of the platform. The force sensors 61 and / or 62 and / or 63 and / or 64 may be provided under the engraved left footprint 111 or under the engraved right footprint 112 or under each of them. For example, the third force sensor 61 is below the toe portion 41 of the carved left footprint 111 and / or the carved right footprint 112 on which the user places the toes of the left and / or right foot. For example, the second force sensor 62 is below the heel portion 42 of the engraved left footprint 111 and / or the engraved right footprint 112 on which the user places the heel of the left foot and / or right foot. For example, the third force sensor 63 is below the mid-outer portion 63 of the engraved left footprint 111 and / or the engraved right footprint 112. For example, the fourth force sensor 64 is below the middle medial portion 64 of the engraved left footprint 111 and / or the engraved right footprint 112.

In one embodiment, sensors 61, 62, 63 and 64 are below the top surface 11 for the right foot (referred to as 61 _r , 62 _r , 63 _r , 64 _r ) and sensors 61, 62, 63 and 64 are for the left foot. It is below the top surface 11 (referred to as 61 _l , 62 _l , 63 _l , 64 _l ). In another embodiment, the sensors 61, 62, and 63 are below the top surface 11 for the right foot (referred to as 61 _r , 62 _r , 63 _r ) and the sensors 61, 62, and 63 are below the top surface 11 for the left foot. It is located in (61 _l , 62 _l , 63 _l ).

In one embodiment, the computer CAL calculates a first pressure difference between the pressure F1 measured by the first force sensor 61 and the pressure F2 measured by the second force sensor 62. The control signal is generated by the generator 7a at least according to the first pressure difference (pressure F1-pressure F2) or according to the normalized first pressure difference ((F1-F2) / (F1 + F2)). To. The sensor 61 and the sensor 62 then allow the user to operate the controller by applying forward or backward pressure to his or her foot or from one foot to the other.

For example, the computer CAL has a normalized first pressure difference ((F1-F2) / (F1 + F2) _r ) under the carved right footprint 112 or under the top surface 11 for the right foot and the carved left. Twist value TW (= (F1)) which is the sum of the normalized first pressure difference ((F1-F2) / (F1 + F2) _l ) below the footprint 111 or below the top surface 11 for the left foot. -F2) / (F1 + F2) _r + (F1-F2) / (F1 + F2) _l ) is calculated.

In one embodiment, the control signal CS is generated by the generator 7a according to at least the twist value TW.

In one embodiment, the twist value TW or the first pressure difference between pressure F1 and pressure F2 or the normalized first pressure difference is used to move along the vertical axis, eg, the right foot in FIGS. 15A and 15B. Apply pressure to the right point 41 _r (and to the force sensor 61 under the right footprint 122) with the tip of the toe, and to the left point 42 _l (and to the force sensor 62 below the left footprint 111) with the heel of the left foot. When pressure is applied (hereinafter, this is referred to as pressurization of the twist pressure on the force sensor 6), a control signal CS that brings about an upward movement UP-Move is generated in the screen Sc. The twist value TW applies pressure to the left point 41 _l (and to the force sensor 61 under the left footprint 111) with the toes of the left foot and to the right point 41 _r (and below the right footprint 112) with the heel of the right foot. It is used to generate a control signal CS that causes downward movement in the screen Sc when a pressure is applied (hereinafter, also referred to as a twist pressure pressurization to the force sensor 6). obtain. Of course, this may be reversed in order to control the upward and downward movements by the force sensor. The user moves along axis Z on the screen or in a virtual environment by pressing on the front side of one foot and the back side of the other foot ("torque" movement) or by performing the reverse movement (or "torque" movement). Rotate vertically around the point of interest). 15A and 15B show, for example, a pan view above or below.

The sensors 61 and 62 tilt the platform 1 at the same time by bending or extending the foot without tilting the platform 1 around the axes X, Y and Z, or around the axes X and / or Y and / or Z. This enables the operation of the controller 100.

In one embodiment, the computer CAL calculates a second pressure difference between the pressure F3 measured by the third force sensor 63 and the pressure F4 measured by the fourth force sensor 64, and the control signal is at least. It is generated by the generator 7a according to the second pressure difference (F3-F4) or according to the normalized second pressure difference ((F3-F4) / (F3 + F4)). The sensors 63 and 64 then allow the user to operate the controller by applying pressure directed inward or outward to their own foot or from one foot to the other.

For example, the computer CAL has a normalized second pressure difference ((F3-F4) / (F3 + F4) _r ) under the carved right footprint 112 or under the top surface 11 for the right foot and the carved left. Lock value LO (= (F3-F4) /) which is the sum of the normalized first pressure difference ((F3-F4) / (F3 + F4) _l ) below the footprint 111 or below the top surface 11 for the left foot. (F3 + F4) _r + (F3-F4) / (F3 + F4) _l ) is calculated.

In one embodiment, the foot is used with a second pressure difference (F3-F4) or a normalized second pressure difference ((F3-F4) / (F3 + F4)) or a lock value LO or pressures F3 and D4. When pressure directed inward is applied to the right point 44 _r and / or the left point 44 _l (and to the force sensor 64 under the right footprint 112 and / or the force sensor 64 below the left footprint 111) To, for example, to provide a locking action to capture a target or virtual object on the screen and, conversely, to apply pressure directed to the outside of the foot to the right point 43 _r and / or to the left point 43 _l (and the right footprint). Generates a control signal CS that, when applied) to the force sensor 63 below 112 and / or the force sensor 63 below left footprint 111, results in a release or unlock action that releases a target or virtual object on the screen.

Of course, in the above, the sensor 63 or 64 may not be present and / or the sensor 61 or 62 may not be present in other embodiments.

In another embodiment, as shown in FIGS. 1 and 2, at least one force sensor 6 is located under the upper platform portion 1 around the vertical axis Z, ie, at each of the plurality of points 49 of the upper platform portion 1. Includes a plurality of force sensors 69 distributed underneath. The distance between points 49 may be less than the size of an adult's foot, eg 30 cm. In this case, the user's two feet on the upper platform unit 1 may be in any position without the user having to place their feet on them in the presence of footprints 111 and / or 112. The controller 100 is adapted to. This embodiment is called omnidirectional. The distance between the points where the sensors 6 are distributed is such that each foot is above at least one of the points 49 at any position on the two feet above the upper platform portion 1, resulting in a force sensor 69. It is on one of them or is configured to be able to exert force on it. This allows the upper platform unit 1 to be topped, especially if the user does not pay attention when placing his or her feet on the controller 100 or if the user is sitting on a non-transparent desk or table and cannot see his or her feet. It is possible to detect the presence of the foot at any position on the platform. The sensors 69 may be distributed at regular intervals around the Z axis. For example, at least one force sensor 69 is provided around the axis Z at every 45 °. In another example, at least one force sensor 69 is provided around the axis Z at every 120 °. In another example, an array of force sensors 6 that can form a tactile array is provided below the entire top surface 11.

In one embodiment, for example, the above-mentioned omnidirectional embodiment or all embodiments having at least one force sensor 6 (with or without engraved right footprint 112 and / or engraved left footprint 111). In the controller 100, the second roll axis X and / or the third pitch axis Y corresponds to the registered and rearward non-null angle A1 and from the initial rotation position P1 measured by the rotation sensor 7b. Alternatively, it has means 7f for determining from a specific predetermined motion around these two axes, eg, an motion of tilting forward and then tilting backward just before moving to an initial position corresponding to the rest position. For example, the orientation of the second roll axis X from rear to front can be calculated from the tilt of the non-null angle A1 measured by the rotation sensor at the registered initial rotation position. The registered initial rotation position P1 may play a role of detecting the position behind the user's foot on the platform unit 1. The calibration and / or initial rotation position P1 then gives a preset for the orientation of the controller 100 and / or a preset for the orientations of the axes X, Y and Z and / or a preset for the speed. The means 7f is, for example, a part of the computer CAL. In the above, each means can be replaced by a computer CAL.

In the embodiments of FIGS. 10 and 11, there is a lower base portion 30 separated from the lower cup portion 2. The lower base portion 30 supports the lower cup portion 2 and enables the lower cup portion 2 to rotate about the first yaw axis Z, the second roll axis X, and the third pitch axis Y. Then, the device 101 including the foot operation controller 100 and the lower base portion 30 is formed. The lower base portion 30 may have an upper recess 31 for receiving the lower cup portion 2. Then, the lower surface 20 of the lower cup portion can move on the lower base portion 30, that is, tilt and rotate on the lower base portion 30. The lower base portion 30 has and / or a lower surface 310 (eg, the upper surface 310 of the recess 31) that receives the lower cup portion (2) and allows the lower cup portion 2 to slide on the lower base portion 30. The lower surface 20 of the cup portion 2 may have a surface that allows the lower cup portion 2 to slide on the lower base portion 30. The lower base portion may have an anti-slip outer bottom surface 32 to prevent the lower base portion 30 from slipping on the ground. In one embodiment, the foot control controller 100 can be part of furniture, eg, part of furniture, including a seat. The foot control controller 100 can be a chair or sofa or armchair or part of something else. In the case of furniture, the seat is attached to a lower base 30 located below the seat.

Other examples of instructions involving the controller 100 will be described below.

In FIGS. 12A and 12B, rotating the controller 100 around the yaw axis Z according to the tilted arrow TZ causes the controller 100 to rotate around the point of interest PI (eg, orbiting an object) or the vertical axis Z on the screen Sc. A rotational motion RZ around the centered camera position is provided.

In FIGS. 13A and 13B, by tilting the controller 100 to the right or left around the second roll axis X according to the tilt arrow TX (pan view, right or left), the user is on the screen Sc or in a virtual environment. In, it moves by lateral translation MY to the right or left along the Y axis.

In FIGS. 14A and 14B, by tilting the controller 100 forward or backward around the third pitch axis Y (dolly in or out) according to the tilt arrow TY, the user can tilt the axis X on screen Sc or in a virtual environment. Move forward or backward along the vertical parallel movement MX. The larger the slope, the faster the movement.

The greater the amplitude of motion on any of these axes, the faster the user-controlled object will move or the faster the user will move in the moving 3D virtual environment.

In FIGS. 16A, 16B, 16C and 16D, the combination of tilting the controller 100 around the pitch axis Y according to the arrow TY and rotating around the yaw axis Z following the arrow TZ is to the right or left. It provides a combination of the lateral movement MY and the rotational movement RZ around the point of interest PI about the vertical axis Z on the screen Sc or in a virtual environment (eg, orbit and zoom out).

In FIGS. 17A, 17B, 17C and 17D, the combination of tilting the controller 100 around the roll axis X according to the arrow TX and rotating around the yaw axis Z following the arrow TZ is forward or backward. Provides a combination of the vertical motion MX of the above and the rotary motion RZ around the point of interest PI about the vertical axis Z on the screen Sc or in a virtual environment (eg, orbit and zoom in).

In FIGS. 18A, 18B, 18C and 18D, the combination of the tilt of the controller 100 around the roll axis X according to the arrow TX and the tilt of the controller 100 around the pitch axis Y according to the arrow TY is It provides a combination of forward or backward vertical motion MX and lateral movement MY to the right or left (eg, translation and zoom in).

The above-mentioned movement on the screen Sc or in the virtual environment is the movement of the point of interest PI (locked or unlocked) and / or the movement of the viewpoint or the movement of an object or the movement of a remote control or something else. obtain.

The present invention provides the user with very accurate and natural control. The present invention frees the user from navigation tasks and allows them to be used for other actions. The present invention is not limited to a three-dimensional environment, and even in a two-dimensional computer environment, moving a mouse pointer on a computer screen, emulating a joystick, or issuing commands such as fast-forwarding / rewinding or playing a musical piece. It can be used with both progressivity and accuracy, for purposes such as performing.

An unlimited internal structure of the foot operation controller 100 will be described below as an embodiment.

The means 7a or generator 7a is embodied in, for example, an embedded processing device (for acquiring, processing and transmitting the measured values of the sensors 7b and 6). The means 7a, 7b, 7c, 7d, 7e, CAL can be formed by, for example, an electronic circuit on one or more electronic substrates.

In one embodiment, the case 200 includes a technical container 8 containing a battery 9. The container 8 is attached to the center of the lower cup portion 2. The battery 9 provides electrical energy to the controller 100, i.e., means 7a, 7b, 7c, 7d, 7e, CAL or an electronic card (especially when the controller is wirelessly connected to the device).

In one embodiment, the electronic substrate and the wafer 5 supporting the sensors 7b, 6 are mounted in the case 200 between the upper platform portion 1 and the lower cup portion 2. The AHRS module or means 7b is located on the side of the wafer 5 away from 7a to minimize radio and power interference.

The generator 7a or the generation means 7a has an output unit 7d that transmits a control signal CS to the outside of the foot operation controller 100. The output unit 7d or the generator 7a or the generating means 7a is an interface 7e, for example, a wired communication interface 7e (for example, connected to an external computer, game machine, device or any other electronic device via a USB cable) or a control signal CS. The wireless communication interface 7e may include a wireless transmitter (for example, a wireless link for Bluetooth communication by a Bluetooth (registered trademark) adapter, WiFi communication, mobile communication, etc.) for transmitting the signal to the outside of the foot operation controller 100. The output unit 7d or the interface 7e can be connected to a device such as the one described above. For example, the generator 7a or the means 7a, the registration means 7c, the output unit 7d and the interface 7e are embodied in the computer CAL. The computer CAL is located between the upper platform portion 1 and the lower cup portion 2, that is, in the case 200. The computer CAL includes a microcontroller, a USB port, and may include a Bluetooth or RF transmitter. A holder 4 for any Bluetooth adapter (in the case of a wired connection, plugged into the computer, device or electronic device to which it is connected) may be provided in the industrial container 8. The industrial container 8 also supports an on / off power button to switch the foot operation controller 100 on / off. A lid 3 may be provided in the middle of the upper platform portion 1. The lid 3 can be opened by closing the holder 4 so that the on / off power button can be seen and the on / off power button can be accessed from the outside.

A software driver may be provided on the device or computer to convert the control signal CS received from the controller into data that can be used by the device or computer or game machine or software.

The force sensor 6 detects the presence of the user's foot and starts calibration. Calibration is performed by measuring the initial pressure of each force sensor 6 and by collecting AHRS data.

A dedicated software driver on the device to which the controller is connected translates the collected control signal CS into navigation direction and speed, progressive motion or threshold-triggered motion.

The operation of some specific pressure points can be translated into specific commands.

The progressive effect can also be obtained by varying the pressure exerted by the foot.

The above embodiments can be implemented individually or in combination with each other.

Claims (19)

It is a foot operation controller
An upper platform with at least an upper surface to receive the foot,
A lower cup portion having a lower surface, the lower surface having a curved convex shape for rotation on the lower surface, and the upper platform portion such that the upper platform portion performs the same operation as the lower cup portion. The lower cup part attached to the lower cup part and
A rotation sensor for measuring the rotation of the upper platform portion and / or the lower cup portion about the first yaw axis, the second roll axis, and the third pitch axis that are not on the same plane.
Including
The foot operation controller
At least one force sensor for measuring the force applied to the upper platform portion, the rotation sensor and the at least one force sensor are housed between the upper platform portion and the lower cup portion. , At least one force sensor and
Means for generating control signals from rotation and force measured by the rotation sensor and at least one force sensor.
When the at least one force sensor measures a force indicating that a foot is present on the upper platform portion, the first yaw axis, the second roll axis, and the rotation sensor measure the force. A means for registering an initial rotational position of the upper platform portion and / or the lower cup portion with respect to at least one of the third pitch axes and / or an initial force measured by the at least one force sensor.
Including
The initial rotation position and / or the initial force corresponds to the rest position and / or rest force of the foot on the upper platform portion when the user is sitting, and the upper platform portion is the upper platform portion. Corresponds to being tilted backward by at least a non-null angle about the third pitch axis with respect to the horizontal position of
The control signal is made fresh referenced to the initial rotational position and / or the initial force, the foot operated controller. The foot operation controller according to claim 1, wherein the angle of the upper platform portion to the rear under the horizontal position about the third pitch axis is truly larger than 0 ° and 20 ° or less. The foot operation controller according to claim 1 or 2, wherein the upper surface has an engraved left footprint and / or an engraved right footprint. The foot operation controller according to claim 3, wherein the at least one force sensor is located below the carved left footprint and / or the carved right footprint. The at least one force sensor is below the first point of the upper platform and below the second point of the upper platform away from the first point along the second roll axis. The foot operation controller according to any one of claims 1 to 4, further comprising a first force sensor and a second force sensor, respectively. 5. The force sensor of claim 5, wherein the at least one force sensor comprises at least one additional force sensor located below the first point and a further point on the upper platform portion away from the second point. Foot operation controller. The at least one force sensor is located below a third point on the upper platform and below a fourth point on the upper platform that is distant from the third point along the third pitch axis. The foot operation controller according to any one of claims 1 to 6, further comprising a third force sensor and a fourth force sensor, respectively. The at least one force sensor includes a plurality of force sensors distributed around a vertical axis under the upper platform portion and under each of the plurality of points of the upper platform portion, and the plurality of points. The foot operation controller according to any one of claims 1 to 7, wherein the distance between the feet is smaller than the size of an adult's foot. The foot operation controller according to claim 8, wherein the distance between the plurality of points is less than 30 cm. The foot operation controller according to any one of claims 1 to 9, wherein the lower surface of the lower cup portion has a symmetrical shape about a vertical axis. The foot operation controller according to any one of claims 1 to 10, wherein the lower surface of the lower cup portion has an anti-slip outer surface in order to prevent the lower cup portion from slipping. The foot operation controller can be used to operate a physical object in the real world or a virtual object in a virtual environment, and the initial rotation position and / or the initial force and / or the rest position and / or the rest force and / or the reference and / or the non-null angle is related to the rest position of the physical object or the virtual object, the movement of the physical object or the virtual object from the rest position is driven by the control signal Luke or the speed of the physical object or the virtual object from the rest position is driven by the control signal, the foot operated controller of any one of claims 1 to 11. The second roll axis and / or the third pitch axis is registered and corresponds to the non-null angle to the rear from the initial rotation position measured by the rotation sensor or of these two axes. Any of claims 1 to 12, including means for determining from a particular predetermined motion around one of, eg, tilting forward and then tilting backward immediately before moving to an initial position corresponding to the rest position. The foot operation controller described in item 1. A device including the foot operation controller according to any one of claims 1 to 13.
The device further includes a lower base portion separated from the lower cup portion, the lower base portion supporting the lower cup portion, the first yaw shaft, the second roll shaft, and the third. A device provided so that the lower cup portion can rotate about the pitch axis of the above. The device according to claim 14, wherein the lower base portion has an upper recess for receiving the lower cup portion. The lower base portion has an upper surface for receiving the lower cup portion and allowing the lower cup portion to slide on the lower base portion, and / or the lower surface of the lower cup portion has the upper surface. The device of claim 14 or 15, which has a surface that allows the lower cup portion to slide over the lower base portion. The device according to any one of claims 14 to 16, wherein the lower base portion has an anti-slip outer bottom surface in order to prevent the lower base portion from slipping. It ’s furniture,
A seat that is attached to the lower base located below the seat,
The foot operation controller according to any one of claims 1 to 13.
Including
The lower base portion
It is separated from the lower cup portion of the foot operation controller, supports the lower cup portion, and has the lower cup portion centered on the first yaw axis, the second roll axis, and the third pitch axis. Furniture provided to allow the yaw to rotate. Claims 1 to 13 feet the operation controller according to any one of a method of operating a furniture according to the apparatus or claim 18 according to any one of請Motomeko 14 to 1 7,
In the first step, the user places his or her two feet on the upper platform portion of the foot operation controller.
In the second step, the at least one force sensor measures the force applied to the upper platform portion and
In the third initialization step, the first step corresponds to the force measured by the at least one force sensor in the second step indicating that the foot is on the upper platform portion. The initial rotation position of the upper platform portion and / or the lower cup portion with respect to at least one of the yaw axis, the second roll axis and the third pitch axis is measured by the rotation sensor and / or the initial force. Is measured by the at least one force sensor
The initial rotation position and / or the initial force corresponds to the rest position and / or rest force of the foot on the upper platform portion when the user is sitting, and the upper platform portion is the upper platform portion. Corresponds to being tilted backward by at least a non-null angle about the third pitch axis with respect to the horizontal position of
In the fourth step after the third initialization step, the at least one force sensor measures the force applied to the upper platform portion, and the rotation sensor is the first yaw axis, the second. the upper platform portion around the roll axis of and the third pitch axis and / or rotation of the lower cup portion is measured, before in response to a force and rotation measured between said fourth step Symbol A method in which a control signal is generated and the control signal has the initial rotational position and / or the initial force as a reference .

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